Problem 2.1 Lot v= @ x b, or in indicial notation, vie = GG; x DLE, = einai OE Using indicial notation, show that in, (a) vev= ab? (b) axb-a=0 (c) axb-b=0. Solution (a) For the given vector, we have VV = Ci A;DKEL Cpgedgdsy = CijKAsDAE pas MgPsdip = CijkO;PRCigsAgbs = (Ssqdks ~ B52Bkq) GeAgHs = aasdKdK — asbeaxbs (aa) (b+ b)~ (a+b) (a+b) = a2b? ~(abcose)* =atb* (1 —cos*@) = a*b* sin7@ (b) Again, we find Ax be a= Vv a= (eiKa;bK@i] - ayey — cijRA;PLAaySiy = EyRasbRar =O ‘This is zero by symmetry ini and j (0) This is ax b-D=Vv-b= (ejnasbuei) - by&q = cna; debgdiq = Eyxajdubi =0 This is zero by symmetry in i and j (6) Thisis x be Dav b= (cijnasbiCi) -by@g = ctieasbubydig = erasbebr =0 Again, this is zero by symmetry ink and and i, Problem 2.2 With respect to the triad of base vectors wy, uz, and u3 (not necessarily unit vectors), the triad u! U2, and w is said to be a reciprocal basis if u; «w= 84 (1, = 1,2,3). Show that to satisfy these conditions, Ww xus fay, te, us) us ur [uy u2,us. un @ & & 4 upxuz=| 2 1 0 [=e + 2e244ea w= 5 (e+ 2024425) o 2 1 Problem 2.3 Let the position vector of an arbitrary point P (x1x2x5) be x = x:@i, and let b= bye; be a constant vector, Show that (x—b) +x = 0 is the vector equation of a spherical surface hhaving its conter at X= 4b witha radius of $b Solution For (xe = B) x = (xp, — BLE) xj @j = (xv) — BIG) iy = KUMI — DUKE + $= Dixy — boxe — byxs =0Now Chapter 2 Solutions 3 ‘Thisis the equation of a sphere with the desired properties, Problem 2.4 Ung the wtations Ajj = 4UAy + Ay) and Ay = (Ay Ay) show that (a) the tensor A having components Ay can always be decomposed into a sum of its symmetric Aji) and skew-symmetric Aj parts, respectively, by the decom- position, Ay =Aiyy + Avil (b) the trace of A is expressed in terms of Ac) by Aa = Agi) + (©) for arbitrary tensors A and B AyBy = Ac Boy + AiiBiui Solution (a) The components can be written as A (4 (b) The trace of A is (0) For two arbitrary tensors, we have AuBes = (Aci + Aisi) (Bessy + Busi) = Aan Bisyy + AnsiBessy + Avi Bisi + AunBuy HA Bay + AwiBunsince the product of a symmetric and skew-symmetric tensor is zero AB) = (AYGAS) (BAS B) — Laub AB AGB ANB) PAB F ABy —AnBy— AuBy) <0 We have changed the dummy indices on the last two terms. Problem 2.5 Expand the following expressions involving Kronecker deltas, and simplify where possible. (a) dd, (b) SyBAdua, [€) B85, (d) BALL Answer 4 Continuum Mechanics for Engineers (a) 3.) (Bau @) An Solution (@) Contracting on i or j, we have 845955 = 8) = Bia = O11 + O22+ O35 = T+ TFT = (b) Contracting on k and then j gives Su Spd (©) Contracting on j yields BujSju = Bix (a) Contracting on i gives SyAu=Ajx Note: It may be helpful for beginning students to write out all terms.Problem 2.6 May = eyubjcx and by = eyjxgihg, substitute by into the expression for ai to show that a = gucuhi — hucxg: » or in symbolic notation, a= (e-g)h~(e-h}g. Solution We begin by changing the dummy indices for b; = smn GmMn and 5 = eR] = Li;AL|mnGmMnCk = — (EjikE mnGmalnCK) = = (SimBkn— SinSkm) ImPnek giKeK + geIicK = gkeKhi — hKeKg where we have used the anti-symmetry of ej). a=(c-g)h—(e-hjg ‘ju: and the ¢—S identity. Symbolically Problem 2.7 By summing on the repeated subscripts determine the simplest form of (a) espeasaie, (Bb) eyedys, Ce) enyeaatay, (4) enjnd3ive Answer (a) 0, (b) 0, (©) a2(T32— (a) -v2 Solution (@) Summing gives Exedy, = Caearay + es2n@gay = €3190) 42+ E2120 = ayay~ aya, Chapter 2 Solutions (b) eeuBig = eap1b1y + 452525 + ces3835 2112 + exanD13 + €512821 + €:g2d23 + €:13831 + v2ads2 o eneaatiy = er2Kartia + erseaatas t2ga2Ts2 + 13202723 = a2T32 ~ agTa3 = a2 (T32 Tes)(a) enjud3jVie = €12k522VK + €13k533V = 0+ £132833V2 = V2 Problem 2.8 Consider the tensor Bix = ex1.¥) (a) Show that Bix is skew-symmetric, (b) Let By be skew-symmetric, and consider the vector defined by vi = exjxBjx (often called the dual vector of the tensor B). Show that Bra = $emai Solution (a) For a tensor to be skew-symmetric, one has Ai = ~Aji. For the given tensor Bac = exper = engevy = Bes (b) For the dual vector of the tensor B, we have Emaivi = EmatetsABjk = (BmjSqx ~ Smkd gi] Bye = Brg ~ Bam = [Brg ~ (—Bma)] =2Byrg since B is skew-symmetric, Problem 2.9 Use indicial notation to show that Amitmik + Amjtimk + Ambéiim =Ammetik where A is any tensor and eiyk is the permutation symbol. Solution Multiply both sides by ci, and simpli Anumbijktiik =6Amm = Amiemikeink + Amjeimeeiik + Ambeiimeiik = Ari 2Smt + Araj28raj + Ak 23 mk = Amr Problem 2.10 If Ajj = 84)Bux + 3Bij, determine By, and using that solve for Bij in terms of Ajj and its first invariant, Ag. Answer6 Continuum Mechanics for Engineers Buc tAui By —4Ay— Boye Solution Taking the trace of Ai) gives Ag = 54Bag + 3Bu = 3Bix + 3Bu = Bic since { and k are dummy indices. This gives 1 Bax = GAne Substituting for Bux and solving for By; gives 1 BB =Ay— ZouAue or By Problem 2.11 Show that the value of the quadratic form Tyxix; is unchanged if Ty is replaced by its symmetric part, 4(Ty5 + Tx) Solution The quadratic form becomes 1 1 1 Tyran = 5(Ty + Thaleixy = 5 (Tapeves + Tota) = 9 (Tapevs) + Tipe) = Taxis since i and j are dummy indices and multiplication commutes. Problem 2.12 With the aid of Eq 2.7, show that any skew symmetric tensor W may be written in terms of an axial vector «; given by 1 wy = —ZeuRW peunwie where wy, are the components of W. Solution Multiply by €jmn FimnWi = —TeimntijkWik =F (Sms 5nk — Soak Sas) Wye 4 Wm — Wem) = Wns ot, EmniWi = WamProblem 2.13 Show by direct expansion (or otherwise) that the box product A = exjkabjex is equal to the determinant ay @ as br b2 bs ce ey Chapter 2 Solutions 7 ‘Thus, by substituting Ais for a:, Az; for bs and Ay for cy, derive Eq 2.42 in the form det A = cijxArilaiAlsx where Jl;; are the elements of A. Salution Direct expansion gives A= capa ytie = EryeM Bsc + ery O2yee + Espnsb/Cr ar b2ck + E13ka) Baca + e2rvusbres + e2measbace + exnasbrey + Esevasbscn, rayabzey + e13g0rb3e2+ exisagbyey + egsrazbye) + eaizarbrez-+ ex21axb201 = aybye} ~ aybye2 — agbjey + apbye) + aybse2—asboey and a a a br bz bs rbz¢3 + azbse1 + asbiez ~ aibsez~ azbies ~ asbee Using the suggested substitutions for ay, by, c, we have As, A= cape iay an = eran + e2inArAalar + expe/lrsAayax era An Aa2Aan + erin Aaa + eanArAar Aan + en i2AaAan Fears dag b adi AaaAsy e1avAi Arrant era2Ar Aadyg + eaisdi2ArrAar + erArrdasAsr FesiaAisAlarae + ex2iAysAa2da1 AytAaeAas ~ Ar AasAa2~ AraAayas + JyAarar + Anatase ~ Anda and An Anz Ars Ay Ay Any Asi sz Ass ArAazdys~ An Aan + AiAaiday ~ AiAaAn 4A sdlardlse —ArsAarsy =AProblem 2.14 Starting with Eq 2.42 of the text in the form det A = ex, An Airs show that by an arbitrary number of interchanges of columns of Ay we obtain qian det A = E5jApgAsmAun which is Eq 2.43, Further, multiply this equation by the appropriate pernmtation symbol to derive the formula 6detA = cqmntiindioimAan Solution Each row or column change introduces a minus sign. After an arbitrary number of row and column changes, we have Eqmn det A = esp Asm Aien 8 Continuum Mechanics for Engineers Multiplying by &amn gives Eamneamn det A = (Smmdnn—Smndnm] detA = (3-3~ Sqn) det [9 3) det A = egmntijeAigAimAin from the ¢ — 9 identity Problom 2.15 Lot the determinant of the tensor Aly be given by An Aa An detA =| An) Azz An As An Aas Since the interchange of any two ows or any two columns causes a sign change in the valne of the determinant, show that after an arbitrary number of row and column interchanges Ang Ane Ams Ang Ane Ans | =Emnpeqre det Apa Apr Aps Now let Aij =8i in the above determinant which results in det A = 1 and, upon expansion, yields Emnptqrs =Smq(Snrbps— Sasdpr) — Siar(Bnagdps— Snsdpq) + dme(SnaSpr— Burd pq) Thus, by setting p= q. es ablish Eq 2.7 in the form Emnatgre =Smr8ne— SmaSrr +Solution Letting Ay =d4; in the determinant gives dmg Omr Sms dng Snr Ons pq Opr Ops Bing (SnrBps— Susdpr) — Siar (Sugdpe— Snedpq) + 8ms (Snadpr— Snrdpq) and Emnplars = Smaldnrdps— Sasdpr} — dmr(Snadps — Snsdpq) + ds (Snadpr— dnrdpq) since Su 812 Os 100 Ser 822 823 o10 123e23 det dsr a2 S33 ool Setting p = a gives Simp Smr Sms Sap Snr Sus Spp Spr Sps =Byap (OnrOps — Suspr) — Svar (BapOps— Susp) + Bins (SupOpr — SueBpp) =Dardins — Oasdiar — Omar (Sus — dn) + Bins (Oar — 38x) BarOme— Snedine + WBmrdns— Winedne = Dmrdus = SmsDne Problem 2.16 Show that the sqare matrices 1 0 0 o 19] ana iei=[ 4) 2 oo] [By] are hoth squate roots of the identity matrix. Solution The product of the matrix with itself should be the identity matrix for it to be a square root. Thus ° 100 ° oo 1 oot [2 S][.2 3]-[-t@ 273 ]-[o 7]Problem 2.17 Using the square matrices below, demonstrate (a) that the transpose of the square of a matrix is equal to the square of its transpose (Bq 2.36 with n = 2) (b) that (AB)T = B™AT as was proven in Example 2.33 301 131 layl=]} 024], wy] 225 512 403 Solution (a) For the matrix A, we have 30 15 o2 38 16 301 4 13 and 20 25 a4 16 13 1213 and , fl24ajypr24 1 2% 16 (ai=]320]]3 20 8 10 12 153)[153 wo 3 10 Continuum Mechanics for Engineers (b) For (AB)" = B'A', we have 30 1)f131 7 9 6 slBsl=|0 2 4]]225}=]20 4 2 512)|403 15 17 16 and 124);305 7 20 15 fey agj-|3 20])021]-]9 4 v7 15 3}l142 621 The result is demonstrated.Problem 2.18 Let A be any orthogonal matrix, i¢., AAT = AA! =I, where 1 is the identity matrix. Thus, by using the results in Examples 2.9 and 2.10, show that det = 1 Solution From Example 29 det (AA") = det Adet At and from Example 2.10, deta = det.a™ ‘Then det (AA') — det AdetA' — det AdetA — (det)? det 1 and (deta) = 41 Problem 2.19 tensor is called fotropic fits components have the same set of values in every Cartesian coordinate system at-n pot, Assume that T is an isotropic tensor of rank two with components ty relative to axes Oxizoxs. Let axes On} xx, be obtained with respect to Oxyxzxs by-a righthand rotation of 120° about the axis along = (+ @ +8) /V3, Show by the oansformation between these ates that {yy = tay = ty, well as other relationships Farther, let axes Ox}x}xj be obtained with respect to Oxrxoxs by a right-hand rotation 0£ 90° about x3, ‘This, show by the additional considerations ofthis transformation that if Tis any isotropie tensor of second order, it ean he written as MP yshore 9 isa sealar and 1 is th identity tensor. Solution Fora 120° rotation about the axis f= (81 + @ + 010 layl=] 0 0 1 100 5) V3, the transformation matrix iswith deta = ‘The soem = Aig Gjm Tamm OF th th ts th te ta] fo 0 bes tar ta tas || 1 0 thot ty ‘ tar ta2 tas] [01 tr ts =a 6 tata tr not distinguish between the primed and Thus if T is isotropic, the transformation wil unprimed coordinates. This gives yysteas testy tasty or ty ty tas and tashs test iste tastn bist tests This results in tists star and ty3 = ter = te For a 90° rotation about the xsaxis, the transformation matrix is o 10 layl=| 1 0 0 001 with detA = 1. The resulting transformation is To] ftn te tes 00] | ta tr ts or] Lo be bs tr ty ts ts 0-10 100 oot str tn Again tag=A and fae-bs bssbs br stay bss—tes brster be =—tr ‘This results in t ste ty =—tiy= tes =0; typ =—tyy ts = 0 a1 = Fora tensor to be isotropic, T = MProblem 2.20 For a proper orthogonal transformation between axes Oxixaxs and Ox}xxs show the invariance of dij and €,y. That is, show that (a) 3 = 84) 2 Continuum Mechanics for Engineers () ely eon Hint: For part (b) let ei, = Gig Gm Gin tqmn and make use of Eq 243, solution (a) The transformation is 85 = atgtimdam = Biman (b) The transformation is Eye = Gig Gin Gkn gman From 2.43, we have eon = ease det A ei, (41) since the transformation is proper orthogonal. Problem 2.21 The angles between the respective axes of the Ox; x3x,, and the Oxi x2X3 Cartesian systems tare given by the table below 75790" 60° 45° 120° 120° 45° 60° Dotermine (a) the transformation matrix between the tno sets of axes, and show that it is a proper orthogonal transformation, (b) the eamation ofthe plane x1 + x2 +x Inthe form byx + box: + bax =. / V2 in its primed axes form, that isAnswer (#) las) = (b) 2x; txy+xy=1 Solution (@) The transformation matrix is cos60° — cos45° cos 120° cos43° cos90° cos 45° fay] cos 120° cos45° cos 60° and for a proper orthogonal matrix Answer 1 o 7 a) =) 4 4 -4 (a) [aij aR a tt 4 i (b) 2x) +x,+x5=1 Solution (a) The transformation matrix is cos45° cos90°— cos 45° |- faiyl= | cos60° cos45° cos 120° cos120° cos45° cos 60° and for a proper orthogonal matrix 1 1 1 detA=—— | —= ee Dh (ss ‘Th ): ‘2(b) The transformation is This gives and Problem 2.22 Making nse of Eq 2.42 of the text in the form det. = ey. AayAae write Eq 2.71 as ly — ABI = exp (tne — Bu (tay — [ts 855) =0 ‘and show by expansion of this equation that ¥ tua? + [5 uty —tutn)] A~eoetntavtn to verify Eq 273 of the text. Solution Expansion of the equation gives [tay Dial = eae Cae — ABYe) [las — A8aq) (42K — ABN) eqn [tratay — Af taySae + treByy) +97541824] (tax — AB3x) ijn [tretajtsn — Mtaetajdni + taxtriba)) — Msxtritay An abi} da) EMSS A — PSG, exgutuataytan — Aegy (taxtaydre + tautoiday + Saytretay] $M eGie (taidradan + CH Baidan + SriPajtan) — Mein bsi8s; exyutiataytax — Menetactay + evetauty; + eyatntay) $4? [enjatay + eianth: + erautan| = Mejan untistajtan A tystaz~ thates + tasthy — toiths + tiatee— trate) $M [tag + O11 + tas) — MeraThisis the desired result since ‘tuatyy — tuytha = (toy + ta + tha) tis + tae + toa) — (trityr + tayty2 + tryta) and, (try + tao + ty) (tyr + tye + 33) + ty + thy + 2 (try tae + taatss + trytss) trityy + tay + tists = th + tratar + taster + bti2 + taste + taitiat tates + Hts thet Gs +2 ltartia t thats + tastsa] tistiy — thts =2 (trataz + taataa + tritaa) —2(tartia + trata + taata2) Problem 2.23 For the matrix representation of tensor B shown below, v0 0 byl=| 0 23 28 0 28 10 determine the principal values (eigenvalues) and the principal directions (eigenvectors) of the tensor. Solution ‘The eigenvalues are given by 7W-A 0 ) det(B-M)=| 0 -23-A 2B 0 28 10-A = (17 A) [(-23 —d) (10 — A) — 287] = = (17—A) [A? + 13A — 230 — 784] = (17 —A] (A+ 39] [A-26) =0 For A = 17, the eigenvector is found from 7-17 0 0 m 0 0-23-17 28 m }=|0 0 23 w-17 J L ns 0 —40n2 + 28n; =0 28n2—7n3=0The result is together with the unit vector relation yields wi =e For A = 26, the eigenvector is found from 7-26 0 0 ™ 0 o nz [=| 0 0 6 | | ns 0 —49n2 + 28n3 =0 28n2 — 16n3 =0 or The result is m=0 Tn =4n3 together with the unit vector relation ntende nestyields m= Similarly, for \ = 38, the eigenvector is found from 7+39 0 0 m 0 0 23439 28 nz |=|0 0 28 10439 | | ny 0 or 56m =0 Tén2 + 28n3 =0 28n2 + 49n3 =0 The resultis ny 4ny = —7n3 together with the unit vector relation nie ntin yields Problem 2.24 Consider the symmetrical mates IBul=]o 4 ° (8) Show thar a muplieity of tun oeenrs among the pelneipal values of this mates, (b) Let As bethe unique principal valve and show thatthe transformation matrix tives Be acentling to By — @igdja Ban:(c) Taking the square root of that | ant rnsoaag bak to Onan ate show (@) Verify that the matrix 104] lel o2 40 is nlso a square root of (Bj) Solution (@) The principal values are found from 3 se) -r1-44| sata} ° *y 18 Continuum Mechanics for Engineers Problem 2.25 Determine the principal values of the matrix 4 0 0 oy) [: 1 4] o-v3 9 tnd show that the principal axes Oxjx3x3 are obtained from Oxyx2xs by a rotation of 60° about the x1 axis. Answer AyH4, 8 ADSolution The principal values are found from 4-h 0 ° x z det 'K— Al] 0 =A -V3 (4a) [i1—aye-m+ (v4)'] 0 0 -v3 9-2 =(4—A) [M —20A—96] =0 (4-A) (A-8) (A= 12) =0 The eigenvalues are Ap=4; Az =8; A3=12 The associated principal vectors are given by Eq 2.57. For \y ~4 we have 7ny~ V3ns =0 —V3nz + 5n3 =0 so that =8,wehave —4n,=0 3nz— V3n3 = 0 ~V3nz + n3=0 or - ng =V3n2 and nfin3 so that For A3 = 12, we have